orat / gafro

An efficient c++ library targeting robotics applications using geometric algebra

Geometric Algebra For RObotics

This library provides a geometric algebra tools targeted towards robotics applications. It includes various computations for the kinematics and dynamics of serial manipulators as well as optimal control.

Usage

gafro can be used either standalone or within a catkin workspace. In both cases it can be used in a CMakeLists.txt as follows:

find_package(gafro REQUIRED)

target_link_libraries(target gafro::gafro) 

Background

You can find the accompanying article here and more information on our website.

How to cite

If you use gafro in your research, please cite the

@article{lowGeometricAlgebraOptimal2023,
  title = {Geometric {{Algebra}} for {{Optimal Control}} with {{Applications}} in {{Manipulation Tasks}}},
  author = {L\"ow, Tobias and Calinon, Sylvain},
  date = {2023},
  journal = {IEEE Transactions on Robotics},
  doi = {10.1109/TRO.2023.3277282},
  note = {In Press}
}